EP3506234A1 - Procédé de détermination de l'emplacement de stationnement d'un véhicule - Google Patents

Procédé de détermination de l'emplacement de stationnement d'un véhicule Download PDF

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Publication number
EP3506234A1
EP3506234A1 EP17210680.9A EP17210680A EP3506234A1 EP 3506234 A1 EP3506234 A1 EP 3506234A1 EP 17210680 A EP17210680 A EP 17210680A EP 3506234 A1 EP3506234 A1 EP 3506234A1
Authority
EP
European Patent Office
Prior art keywords
mobile electronic
vehicle
electronic device
parking space
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17210680.9A
Other languages
German (de)
English (en)
Inventor
Jorge Clemente
Peter Schönleitner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Skidata AG
Original Assignee
Skidata AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Skidata AG filed Critical Skidata AG
Priority to EP17210680.9A priority Critical patent/EP3506234A1/fr
Priority to US16/200,699 priority patent/US10492042B2/en
Priority to CN201811471026.9A priority patent/CN110007327A/zh
Publication of EP3506234A1 publication Critical patent/EP3506234A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
    • G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/147—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is within an open public zone, e.g. city centre
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication

Definitions

  • the present invention relates to a method for determining the parking space of a vehicle according to the preamble of patent claim 1.
  • a sensor is usually assigned to each parking space, which detects a parked vehicle.
  • provision can be made for vehicles in a parking garage to be identified in at least one speed range on the basis of the sound profile emitted by the drive train, wherein the parking space of a vehicle is the location of the last localization of the vehicle while the drive unit is running.
  • the present invention has for its object to provide a method for determining the parking space of a vehicle.
  • a method for determining the parking space of a vehicle in the context of which the parking place of the vehicle is determined as the location at which a vehicle-mounted mobile electronic device is located in the movement profile a vehicle - in the following called vehicle movement profile - merges into a pedestrian movement profile.
  • the parking space can be displayed in a map, for example.
  • vehicle movement profile and the pedestrian movement profile by means of an evaluation of the data of the sensors of the mobile electronic device, for example by means of the data of an accelerometer, a compass, a magnetic sensor, a vibration sensor and / or a light sensor via suitable software in mobile electronic device, or via evaluation of the movement profile itself such as Speed, movement on the street, in pedestrian areas, and the like.
  • the location where the mobile electronic device transitions from the vehicle movement profile to a pedestrian movement profile is determined by the GPS Data of the GPS module of the mobile electronic device at this time, ie at the time the mobile electronic device transitions from the vehicle motion profile to a pedestrian motion profile.
  • the vehicle is tracked using the data of the GPS module of the mobile electronic device.
  • the parking space is determined in the mobile electronic device.
  • any suitable GNSS (Global Navigation Satellite System) signal for example a Galileo or Glonass signal, can be used in conjunction with a suitable reception module.
  • the place where the mobile electronic device from the vehicle movement profile in a pedestrian Movement profile based on a tracking of the mobile electronic device, preferably determined by means connected to a server means for detecting mobile electronic devices via a standard for wireless communication.
  • the mobile electronic device transmits at periodic intervals or after receiving one of the means for detecting mobile signal transmitted by electronic devices, which is received by means for detecting mobile electronic devices.
  • the tracking can be done by means of WLAN or by means of the BLE or a UWB standard.
  • the parking space here corresponds to the location of the location of the mobile electronic device at the time of the transition of the mobile electronic device from the vehicle movement profile into a pedestrian movement profile.
  • the tracking data is transmitted via the standard for wireless communication to the mobile electronic device, wherein in the mobile electronic device, the tracking data the movement profile as a function of Time can be assigned, whereby the parking space can be determined.
  • the tracking or localization of the mobile electronic devices for example, by the fact that based on a reference signal strength, which usually corresponds to the signal strength in a meter distance and which is included as information in the signal of the mobile electronic device or in dependence on the mobile electronic device , eg of the type of mobile phone stored in a table stored in the computer, the distance between the mobile electronic device and means for detecting mobile electronic devices, e.g. be performed as BLE, UWB, or WLAN transceiver units, is determined, wherein subsequently a trilateration or in more than three transceiver units, a multilateration is performed.
  • a reference signal strength which usually corresponds to the signal strength in a meter distance and which is included as information in the signal of the mobile electronic device or in dependence on the mobile electronic device , eg of the type of mobile phone stored in a table stored in the computer
  • the distance between the mobile electronic device and means for detecting mobile electronic devices e.g. be performed as BLE, UWB, or WLAN transceiver
  • signal generators may be provided according to a standard for wireless communication, which are embodied, for example, as BLE, UWB or WLAN signal transmitters which transmit signals at predetermined time intervals which are received by the mobile electronic devices and in the mobile electronic devices, for example by means of an app to be evaluated.
  • the signal generator is identified by means of a Universally Unique Identifier (UUID) of the transmitter and measured the signal strength.
  • UUID Universally Unique Identifier
  • signals are received from at least three signalers, can be in the mobile electronic Device by trilateration or by means of a fingerprinting method to calculate the position of the mobile electronic device in two-dimensional space.
  • a tracking of the mobile electronic device by means for detecting mobile electronic devices or via BLE, UWB, or WLAN signal transmitters via a communication standard for wireless communication can also take place when a GPS signal is present and is evaluated, which increases the accuracy of the method.
  • the tracking data of the GPS signal hereinafter referred to as GPS data and the data of tracking via means for detecting mobile electronic devices or via BLE, UWB, or WLAN signal generator in the mobile electronic device based on the respective time stamp stored as a function of time.
  • the data of the tracking via means for the detection of mobile electronic devices are transmitted for this purpose by the server via the means for detecting mobile electronic devices to the mobile electronic device.
  • GPS data and the tracking data on means for detecting mobile electronic devices or via BLE, UWB or WLAN transmitters have the same time stamp, which can occur with a low probability, it is assumed that the GPS Signal that has higher accuracy.
  • a tracking sequence is provided which has twice as many signals as a tracking sequence created using one of the methods.
  • GPS data In the event of any discrepancy between the GPS data and tracking data obtained via means for detecting mobile electronic devices or BLE, UWB, or WLAN signal transmitters that exceeds a predetermined threshold, it is assumed that the GPS data is outdoors and in a building, eg in a parking garage, the tracking data obtained via means for detecting mobile electronic devices or via BLE, UWB, or WLAN signal transmitters are more accurate, so that only these data are used.
  • the movement profile of the vehicle can be used, which based on the GPS data of the mobile electronic device and / or tracking the mobile electronic device via means for the detection of mobile electronic devices or BLE -, UWB-, or wireless signal transmitter is obtained.
  • the GPS data and / or the tracking data are analyzed via means for detecting mobile electronic devices or via BLE, UWB, or WLAN signalers in the mobile electronic device as a function of time, wherein, when the data in one Applicable time interval differ from each other less than a predetermined threshold value, it is assumed that these tracking data, hereinafter referred to as vehicle standstill data correspond to a potential parking space of the vehicle.
  • vehicle standstill data corresponds to an alternately carried out forward and backward movement below the predetermined threshold value, wherein, if this is the case, it is assumed that these movements are with high probability a parking operation, then that the vehicle standstill data correspond to the parking space of the vehicle with high probability.
  • this location is determined as the parking space of the vehicle.
  • the invention can be detected in the case of a parking lot or a parking garage by means for detecting mobile electronic devices via a communication standard for wireless communication at the entrance, whether a mobile electronic device is in the vehicle, wherein, if a mobile electronic device is located in the vehicle, this is assigned in a database, which is connected to a server, the vehicle in which the mobile electronic device is located.
  • This, ie the combination of a mobile electronic device with a Vehicle can be done, for example, by detecting a unique feature of the vehicle, such as the license plate of the vehicle and linking the detected feature, such as the license plate with a sent via the communication standard and detected by the means for detecting mobile electronic devices unique ID of the mobile electronic device.
  • the means for detecting mobile electronic devices via the communication standard for wireless communication may be, for example, RFID, BLE, UWB, or WLAN transceiver units.
  • a connection to the wireless data communication via a communication standard, for example via GSM or WLAN between the mobile electronic device and a server made, via this connection determined by the described method parking space to the server is transmitted.
  • the inventive concept provides a method for determining the parking space of a vehicle, which has minimal hardware requirements. Data required for carrying out the method are generated and evaluated in the mobile electronic device.
  • an entrance of a parking garage 2 to which an access control device 4 comprising a barrier boom 5 is provided; by the reference numeral 3, a vehicle is referred to, which is at the entrance 1, wherein in the vehicle 3, a mobile electronic device 6 is located.
  • the place 7, at which the mobile electronic device 6 changes from a vehicle movement profile to a pedestrian movement profile is determined as the parking space of the vehicle 3.
  • the driver 8 exits the parking space 7 from the vehicle 3 and then moves on foot, where he is the mobile electronic Device 6 carries with him.
  • the distinction between the vehicle movement profile and the pedestrian movement profile takes place by means of an evaluation of the data from sensors of the mobile electronic device 6 via suitable software in the mobile electronic device 6.
  • the parking space 7 of the vehicle i. the location at which the mobile electronic device 6 changes from the vehicle movement profile to a pedestrian movement profile in the example shown is based on tracking of the mobile electronic device 6 by means of means 9 for detecting mobile electronic devices via a standard for wireless communication, for example determined via BLE; the parking space 7 corresponds to the location of the location of the mobile electronic device 6 based on the tracking at the time of transition of the mobile electronic device 6 from the vehicle movement profile in a pedestrian movement profile.
  • the tracking data is transmitted via the standard for wireless communication to the mobile electronic device 6, wherein in the mobile electronic device 6, the tracking data are assigned to the movement profile as a function of time, whereby the parking space 7 as the place where the mobile electronic device 6 from a vehicle movement profile into a pedestrian movement profile merges can be determined.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Traffic Control Systems (AREA)
EP17210680.9A 2017-12-27 2017-12-27 Procédé de détermination de l'emplacement de stationnement d'un véhicule Withdrawn EP3506234A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP17210680.9A EP3506234A1 (fr) 2017-12-27 2017-12-27 Procédé de détermination de l'emplacement de stationnement d'un véhicule
US16/200,699 US10492042B2 (en) 2017-12-27 2018-11-27 Method for determining the parking space of a vehicle
CN201811471026.9A CN110007327A (zh) 2017-12-27 2018-12-04 用于确定车辆的停车位的方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17210680.9A EP3506234A1 (fr) 2017-12-27 2017-12-27 Procédé de détermination de l'emplacement de stationnement d'un véhicule

Publications (1)

Publication Number Publication Date
EP3506234A1 true EP3506234A1 (fr) 2019-07-03

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ID=60915360

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17210680.9A Withdrawn EP3506234A1 (fr) 2017-12-27 2017-12-27 Procédé de détermination de l'emplacement de stationnement d'un véhicule

Country Status (3)

Country Link
US (1) US10492042B2 (fr)
EP (1) EP3506234A1 (fr)
CN (1) CN110007327A (fr)

Cited By (2)

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EP3772049A1 (fr) * 2019-08-02 2021-02-03 Volkswagen Ag Procédé de mise en uvre potentielle d'un processus de stationnement d'un véhicule dans une place de stationnement d'une zone de stationnement pourvu de plusieurs places de stationnement, ainsi que système de communication
CN112689860A (zh) * 2020-04-10 2021-04-20 华为技术有限公司 一种挪车方法及车辆

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WO2016093725A1 (fr) * 2014-12-08 2016-06-16 Инвенсенс Интернешнл, Инк. Procédé de positionnement de terminal mobile au moment où se produit un événement de déclenchement
JP7476841B2 (ja) * 2021-04-13 2024-05-01 トヨタ自動車株式会社 情報処理装置、情報処理システム、及び、情報処理方法
CN114495569A (zh) * 2022-02-27 2022-05-13 重庆长安汽车股份有限公司 一种基于超宽带技术的定位寻车系统、寻车方法及汽车
DE102022126828A1 (de) 2022-10-13 2024-04-18 Bayerische Motoren Werke Aktiengesellschaft Verfahren und Vorrichtung zur Ermittlung von Zustandsinformation in Bezug auf die Belegung eines Stellplatzes

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DE102008006356A1 (de) * 2008-01-28 2009-07-30 Siemens Aktiengesellschaft System zum Erfassen der Parkposition von Fahrzeugen in einem Gebiet, insbesondere in Parkhäusern
EP2469303A1 (fr) * 2010-12-24 2012-06-27 Telefonaktiebolaget L M Ericsson (Publ) Système et procédé de stockage passif de localisations
US20130290045A1 (en) * 2011-01-14 2013-10-31 Anagog Ltd. Predicting that a parking space is about to be vacated
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CN112689860A (zh) * 2020-04-10 2021-04-20 华为技术有限公司 一种挪车方法及车辆

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